Computationally-Efficient Algorithm For Applying Motion-Controlled Kinematics In Stepper Motors

The motion control of most industrial systems (such as Computer Numerical Control (CNC) machines and robots) require to consider the physical limitations in position, speed and acceleration. A kinematic motion profile describes the desired movement considering such constraints. The profile generator is in charge of generating the motion controlled kinematics for being applied to the mechatronic system. Several works have been proposed for achieving this task; however, most of them use either complex algorithms or pre-calculated profiles. In this work a low-computational-cost algorithm for the generation of motion-controlled kinematics that can be implemented in low-cost microcontrollers is proposed. The effectiveness of the proposed algorithm is validates through simulation and experimentation